"This week's vote should give all of us pause. All sides need to consider carefully the path ahead," Clinton said. "We all need to work together to find a path forward in negotiations that can deliver on the goal of a two-state solution. That remains our goal.
"If and when the parties are ready to enter into direct negotiations to solve the conflict, President (Barack) Obama will be a full partner to them."
Palestinian leader Mahmoud Abbas called for a return to peace talks, but also chided Israel's latest settlement plans.
"I've said a thousand times that we want to resume negotiations and we are ready to do it," Abbas said in New York.
"We are not setting any condition but there are at least 15 UN resolutions which consider settlement activity as illegal and an obstacle to peace which must be removed," he said. "Why do (the Israelis) not stop settlement?"
Israeli Prime Minister Benjamin Netanyahu had warned that by going to the UN, the Palestinians had violated previous agreements with Israel, such as the Oslo Accords, and that his country would "act accordingly".
- AAP